def getStaticScenario(testName):
beamng = BeamNGpy('localhost', 64256, home=getBeamngDirectory()
) # This is the host & port used to communicate over
staticScenario = Scenario('smallgrid', str(testName))
testVehicle = Vehicle('Test_Vehicule',
model=SelectCar(),
licence='LIFLAB',
colour='Blue')
# Create an Electrics sensor and attach it to the vehicle
electrics = Electrics()
testVehicle.attach_sensor('electrics', electrics)
# Create a Damage sensor and attach it to the vehicle if module is selected
damage = Damage()
testVehicle.attach_sensor('damage', damage)
# Create a Gforce sensor and attach it to the vehicle if module is selected
gForce = GForces()
testVehicle.attach_sensor('GForces', gForce)
staticScenario.add_vehicle(testVehicle, (0, 0, 0), (0, 0, -90))
scenarioDict = {
'beamng': beamng,
'scenario': staticScenario,
'vehicule': testVehicle
}
return scenarioDict
def setup_sensors(self, vehicle):
# Set up sensors
pos = (-0.3, 1, 1.0)
direction = (0, 0.75, 0) #(0, 0.75, -1.5) #(0, 0.75, 0) #(0,1,0)
fov = 120
resolution = (512, 512)
front_camera = Camera(pos, direction, fov, resolution,
colour=True, depth=True, annotation=True)
pos = (0.0, 3, 1.0)
direction = (0, -1, 0)
fov = 90
resolution = (512, 512)
back_camera = Camera(pos, direction, fov, resolution,
colour=True, depth=True, annotation=True)
gforces = GForces()
electrics = Electrics()
damage = Damage()
#lidar = Lidar(visualized=False)
timer = Timer()
# Attach them
vehicle.attach_sensor('front_cam', front_camera)
vehicle.attach_sensor('back_cam', back_camera)
vehicle.attach_sensor('gforces', gforces)
vehicle.attach_sensor('electrics', electrics)
vehicle.attach_sensor('damage', damage)
vehicle.attach_sensor('timer', timer)
return vehicle
def getSquareRoadScenario():
beamng = BeamNGpy('localhost', 64256, home=getBeamngDirectory()
) # This is the host & port used to communicate over
squareRoadScenario = Scenario('smallgrid', 'Straight_Foward_Test')
testRoad = Road('track_editor_C_center', rid='Test_Road', looped=True)
roadNode = [(0, 0, 0, 7), (250, 0, 0, 7), (250, 250, 0, 7), (0, 250, 0, 7)]
testRoad.nodes.extend(roadNode)
testVehicle = Vehicle('Test_Vehicule',
model='etkc',
licence='LIFLAB',
colour='Blue')
# Create an Electrics sensor and attach it to the vehicle
electrics = Electrics()
testVehicle.attach_sensor('electrics', electrics)
# Create a Damage sensor and attach it to the vehicle if module is selected
damage = Damage()
testVehicle.attach_sensor('damage', damage)
# Create a Gforce sensor and attach it to the vehicle if module is selected
gForce = GForces()
testVehicle.attach_sensor('GForces', gForce)
squareRoadScenario.add_road(testRoad)
squareRoadScenario.add_vehicle(testVehicle, pos=(0, 0, 0), rot=(0, 0, -90))
scenarioDict = {
'beamng': beamng,
'scenario': squareRoadScenario,
'vehicule': testVehicle
}
return scenarioDict
def setup_sensors(vehicle, pos=(-0.5, 0.38, 1.3), direction=(0, 1.0, 0)):
# Set up sensors
# pos = (-0.3, 1, 1.0) # default
#pos = (-0.5, 2, 1.0) #center edge of hood
# pos = (-0.5, 1, 1.0) # center middle of hood
# pos = (-0.5, 0.4, 1.0) # dashboard
# pos = (-0.5, 0.38, 1.5) # roof
# pos = (-0.5, 0.38, 1.3) # windshield
# direction = (0, 1.0, 0)
fov = 50
resolution = (200, 150) #(1280,960) #(512, 512)
front_camera = Camera(pos,
direction,
fov,
resolution,
colour=True,
depth=True,
annotation=True)
gforces = GForces()
electrics = Electrics()
damage = Damage()
timer = Timer()
# Attach them
vehicle.attach_sensor('front_cam', front_camera)
vehicle.attach_sensor('gforces', gforces)
vehicle.attach_sensor('electrics', electrics)
vehicle.attach_sensor('damage', damage)
vehicle.attach_sensor('timer', timer)
return vehicle
def create_vehicle(vehicle_objs):
vehicles = []
for v in vehicle_objs:
# Creates vehicle with associated id and attaches damage sensor to each vehicle
vehicle = Vehicle(str(v.id))
damage = Damage()
vehicle.attach_sensor('damage', damage) # Attach Sensor
vehicles.append(vehicle)
return vehicles
def __init__(self, host='localhost', port=64256):
self.steps = WCARaceGeometry.sps // WCARaceGeometry.rate
self.host = host
self.port = port
self.action_space = self._action_space()
self.observation_space = self._observation_space()
self.episode_steps = 0
self.spine = None
self.l_edge = None
self.r_edge = None
self.polygon = None
front_factor = WCARaceGeometry.front_dist / WCARaceGeometry.front_step
trail_factor = WCARaceGeometry.trail_dist / WCARaceGeometry.trail_step
self.front = lambda step: +front_factor * step
self.trail = lambda step: -trail_factor * step
self.bng = BeamNGpy(self.host, self.port)
self.vehicle = Vehicle('racecar',
model='sunburst',
licence='BEAMNG',
colour='red',
partConfig='vehicles/sunburst/hillclimb.pc')
electrics = Electrics()
damage = Damage()
self.vehicle.attach_sensor('electrics', electrics)
self.vehicle.attach_sensor('damage', damage)
scenario = Scenario('west_coast_usa', 'wca_race_geometry_v0')
scenario.add_vehicle(self.vehicle,
pos=(394.5, -247.925, 145.25),
rot=(0, 0, 90))
scenario.make(self.bng)
self.bng.open(launch=True)
self.bng.set_deterministic()
self.bng.set_steps_per_second(WCARaceGeometry.sps)
self.bng.load_scenario(scenario)
self._build_racetrack()
self.observation = None
self.last_observation = None
self.last_spine_proj = None
self.bng.start_scenario()
self.bng.pause()
def setup_sensors(vehicle):
# Set up sensors
# pos = (-0.3, 1, 1.0) # default
pos = (-0.5, 2, 1.0) #center edge of hood
# pos = (-0.5, 1, 1.0) # center middle of hood
# pos = (-0.5, 0.4, 1.0) # dashboard
# pos = (-0.5, 0.38, 1.5) # roof
# pos = (-0.5, 0.38, 1.1) # windshield
pos = (-0.5, 0.38, 1.3) # windshield
# direction = (0, 1, 0)
direction = (0, 1.0, 0)
fov = 50
resolution = (1280, 960) #(512, 512)
front_camera = Camera(pos,
direction,
fov,
resolution,
colour=True,
depth=True,
annotation=True)
pos = (-0.5, 0.38, 1.1) # windshield
direction = (0, 1, 0)
fov = 120
resolution = (512, 512)
back_camera = Camera(pos,
direction,
fov,
resolution,
colour=True,
depth=True,
annotation=True)
gforces = GForces()
electrics = Electrics()
damage = Damage()
#lidar = Lidar(visualized=False)
timer = Timer()
# Attach them
# vehicle.attach_sensor('headlight_cam', front_camera)
vehicle.attach_sensor('front_cam', front_camera)
vehicle.attach_sensor('windshield_cam', back_camera)
vehicle.attach_sensor('gforces', gforces)
vehicle.attach_sensor('electrics', electrics)
vehicle.attach_sensor('damage', damage)
vehicle.attach_sensor('timer', timer)
return vehicle
def getWallCrashScenario(testName):
beamng = BeamNGpy('localhost', 64256, home=getBeamngDirectory()
) # This is the host & port used to communicate over
wallCrashScenario = Scenario('smallgrid', str(testName))
wall = StaticObject(
name="Crash_Test_Wall",
pos=(420, 0, 0),
rot=(0, 0, 0),
scale=(1, 10, 75),
shape='/levels/smallgrid/art/shapes/misc/gm_alpha_barrier.dae')
testRoad = Road('track_editor_B_center', rid='Test_Road')
roadNode = [(-2, 0, 0, 7), (420, 0, 0, 7)]
testRoad.nodes.extend(roadNode)
testVehicle = Vehicle('Test_Vehicule',
model=SelectCar(),
licence='LIFLAB',
colour='Blue')
# Create an Electrics sensor and attach it to the vehicle
electrics = Electrics()
testVehicle.attach_sensor('electrics', electrics)
# Create a Damage sensor and attach it to the vehicle if module is selected
damage = Damage()
testVehicle.attach_sensor('damage', damage)
# Create a Gforce sensor and attach it to the vehicle if module is selected
gForce = GForces()
testVehicle.attach_sensor('GForces', gForce)
wallCrashScenario.add_road(testRoad)
wallCrashScenario.add_object(wall)
wallCrashScenario.add_vehicle(testVehicle, pos=(0, 0, 0), rot=(0, 0, -90))
scenarioDict = {
'beamng': beamng,
'scenario': wallCrashScenario,
'vehicule': testVehicle
}
return scenarioDict
def __init__(self,
vehicle: Vehicle,
beamng: BeamNGpy,
additional_sensors: List[Tuple[str, Sensor]] = None):
self.vehicle = vehicle
self.beamng = beamng
self.state: VehicleState = None
self.vehicle_state = {}
gforces = GForces()
electrics = Electrics()
damage = Damage()
timer = Timer()
self.vehicle.attach_sensor('gforces', gforces)
self.vehicle.attach_sensor('electrics', electrics)
self.vehicle.attach_sensor('damage', damage)
self.vehicle.attach_sensor('timer', timer)
if additional_sensors:
for (name, sensor) in additional_sensors:
self.vehicle.attach_sensor(name, sensor)
def test_damage(beamng):
with beamng as bng:
scenario = Scenario('smallgrid', 'damage_test')
dummy = Vehicle('dummy', model='pickup')
scenario.add_vehicle(dummy, pos=(0, 0, 0))
scenario.make(beamng)
vehicle = Vehicle('test_car', model='etk800')
damage = Damage()
vehicle.attach_sensor('damage', damage)
bng.load_scenario(scenario)
bng.start_scenario()
scenario.add_vehicle(vehicle,
pos=(0, 0, 32),
rot=(-90, 0, 0),
cling=False)
bng.step(600)
vehicle.poll_sensors()
assert damage.data['damage'] > 100
from beamngpy.sensors import Electrics, Damage
from IPython.display import display
# Instantiate a BeamNGpy instance the other classes use for reference & communication
beamng = BeamNGpy('localhost', 64256, home='F:\Softwares\BeamNG_Research_SVN'
) # This is the host & port used to communicate over
# Create a vehile instance that will be called 'ego' in the simulation
# using the etk800 model the simulator ships with
vehicle = Vehicle('ego', model='etk800', licence='PYTHON', colour='white')
vehicleV = Vehicle('victim', model='etk800', licence='PYTHON', colour='red')
# Create an Electrics sensor and attach it to the vehicle
electrics = Electrics()
vehicle.attach_sensor('electrics', electrics)
damage = Damage()
vehicle.attach_sensor('damages', damage)
# Create a scenario called vehicle_state taking place in the west_coast_usa map the simulator ships with
scenario = Scenario('west_coast_usa', 'vehicle_state')
# Add the vehicle and specify that it should start at a certain position and orientation.
# The position & orientation values were obtained by opening the level in the simulator,
# hitting F11 to open the editor and look for a spot to spawn and simply noting down the
# corresponding values.
scenario.add_vehicle(vehicle, pos=(-727.121, 101, 118.675),
rot=(0, 0, 45)) # 45 degree rotation around the z-axis
#scenario.add_vehicle(vehicleV,pos=(-707.121, 101, 118.675), rot=(0, 0, 45))
# The make function of a scneario is used to compile the scenario and produce a scenario file the simulator can load
scenario.make(beamng)
sns.set()
# Instantiate a BeamNGpy instance the other classes use for reference & communication
# This is the host & port used to communicate over
beamng = BeamNGpy('localhost', 64294)
#loads Custom Map
scenario = Scenario('Mytest', 'demo')
#adding ego Vehicle to the scenario
vehicle = Vehicle('ego_vehicle', model='etk800', licence='RED', color='Green')
electrics = Electrics()
vehicle.attach_sensor('electrics', electrics)
damage1 = Damage()
vehicle.attach_sensor('damage1', damage1)
scenario.add_vehicle(vehicle,
pos=(104.647, -1.92827, -3.54338),
rot=(0, 0, 90))
#add vehicle as Obstacle
vehicle1 = Vehicle('test_vehicle', model='etk800', licence='RED', color='Blue')
scenario.add_vehicle(vehicle1,
pos=(-9.66595, -90.7465, -3.45737),
rot=(0, 0, 180))
scenario.make(beamng)
bng = beamng.open()
bng.load_scenario(scenario)
nodes0 = [
(
point1[0], point1[1], 0, 8
), # method to get the road width from elastic search or number of lanes. (forward and backward)
(point2[0], point2[1], 0, 8)
]
road_a.nodes.extend(nodes0)
scenario.add_road(road_a)
vehicleStriker = Vehicle('striker',
model='etk800',
licence='Striker',
colour='Yellow')
damageStriker = Damage()
vehicleStriker.attach_sensor('damagesS', damageStriker)
vehicleVictim = Vehicle('victim',
model='etk800',
licence='Victim',
colour='White')
damageVictim = Damage()
vehicleVictim.attach_sensor('damagesV', damageVictim)
# road creation and vehicle initializatoin with sensors completed.-------------------------------------------
def getDistance(node_a, node_b):
dist = math.sqrt((node_a[1] - node_b[1])**2 + (node_a[0] - node_b[0])**2)
return dist
def add_sensor_to(self, vehicle: Vehicle) -> None:
from beamngpy.sensors import Damage
vehicle.attach_sensor(self.rid, Damage())
def getDonutScenario():
beamng = BeamNGpy('localhost', 64256, home=getBeamngDirectory()
) # This is the host & port used to communicate over
donutScenario = Scenario('smallgrid', 'road_test')
concreteWallSide1 = StaticObject(
name="Crash_Test_Wall",
pos=(20, 10, 0),
rot=(0, 0, 0),
scale=(10, 1, 1),
shape=
'/levels/driver_training/art/shapes/race/concrete_road_barrier_a.dae')
concreteWallSide2 = StaticObject(
name="Crash_Test_Wall2",
pos=(35, -5, 0),
rot=(0, 0, 90),
scale=(10, 1, 1),
shape=
'/levels/driver_training/art/shapes/race/concrete_road_barrier_a.dae')
concreteWallSide3 = StaticObject(
name="Crash_Test_Wall3",
pos=(20, -20, 0),
rot=(0, 0, 0),
scale=(10, 1, 1),
shape=
'/levels/driver_training/art/shapes/race/concrete_road_barrier_a.dae')
concreteWallSide4 = StaticObject(
name="Crash_Test_Wall4",
pos=(5, -5, 0),
rot=(0, 0, 90),
scale=(10, 1, 1),
shape=
'/levels/driver_training/art/shapes/race/concrete_road_barrier_a.dae')
testRoad = Road('track_editor_C_center', rid='Test_Road')
roadNode = [(*(-25, 25, 0), 45), (*(15, 25, 0), 45)]
testRoad.nodes.extend(roadNode)
testVehicle = Vehicle('Test_Vehicule',
model='etkc',
licence='LIFLAB',
colour='Blue')
# Create an Electrics sensor and attach it to the vehicle
electrics = Electrics()
testVehicle.attach_sensor('electrics', electrics)
# Create a Damage sensor and attach it to the vehicle if module is selected
damage = Damage()
testVehicle.attach_sensor('damage', damage)
# Create a Gforce sensor and attach it to the vehicle if module is selected
gForce = GForces()
testVehicle.attach_sensor('GForces', gForce)
donutScenario.add_vehicle(testVehicle, pos=(20, 0, 0), rot=(0, 0, 0))
donutScenario.add_object(concreteWallSide1)
donutScenario.add_object(concreteWallSide2)
donutScenario.add_object(concreteWallSide3)
donutScenario.add_object(concreteWallSide4)
donutScenario.add_road(testRoad)
scenarioDict = {
'beamng': beamng,
'scenario': donutScenario,
'vehicule': testVehicle
}
return scenarioDict
def create_vehicle(self, vehicles):
for i in range(len(vehicles)):
vehicle = Vehicle(str(vehicles[i].id), model='etk800')
vehicle.attach_sensor('damage', Damage())
self.cars.append(Car(i + 1, vehicle)) # Vehicle name is v1, v2,...
nodesa = [
(30, 0, -4, 4),
(0, 0, -4, 4)
]
nodesb = [
(0, 30, -4, 4),
(0, 0, -4, 4)
]
road_a.nodes.extend(nodesa)
road_b.nodes.extend(nodesb)
vehicleA = Vehicle('ego_vehicle', model='etk800', licence='PYTHON')
damageS = Damage();
vehicleA.attach_sensor('damagesS', damageS);
scenario.add_vehicle(vehicleA, pos=(30, 0, 0), rot=(0, 0, 90))
vehicleB = Vehicle('victim_vehicle', model='etk800', licence='PYTHON')
damageV = Damage();
vehicleB.attach_sensor('damagesV', damageV);
scenario.add_vehicle(vehicleB, pos=(0, 30, 0), rot=(0, 0, 0))
scenario.add_road(road_a)
scenario.add_road(road_b)
def main():
random.seed(1703)
setup_logging()
beamng = BeamNGpy('localhost',
64256,
home='C:/Users/merie/Documents/BeamNG.research.v1.7.0.1')
config = Config()
loaded_config = config.load("{}/config.json".format(beamng.home))
# Create a scenario in west_coast_usa
scenario = Scenario('west_coast_usa',
'research_test',
description='Random driving for research')
# Set up first vehicle, with two cameras, gforces sensor, lidar, electrical
# sensors, and damage sensors
vehicle = Vehicle('ego_vehicle',
model='etk800',
licence='RED',
color='Red')
# Set up sensors
pos = (-0.3, 1, 1.0)
direction = (0, 1, 0)
fov = 120
resolution = (512, 512)
front_camera = Camera(pos,
direction,
fov,
resolution,
colour=True,
depth=True,
annotation=True)
pos = (0.0, 3, 1.0)
direction = (0, -1, 0)
fov = 90
resolution = (512, 512)
back_camera = Camera(pos,
direction,
fov,
resolution,
colour=True,
depth=True,
annotation=True)
gforces = GForces()
electrics = Electrics()
damage = Damage()
lidar = Lidar(visualized=False)
timer = Timer()
# Attach them
vehicle.attach_sensor('front_cam', front_camera)
vehicle.attach_sensor('back_cam', back_camera)
vehicle.attach_sensor('gforces', gforces)
vehicle.attach_sensor('electrics', electrics)
vehicle.attach_sensor('damage', damage)
vehicle.attach_sensor('timer', timer)
#scenario.add_vehicle(vehicle, pos=(-717.121, 101, 118.675), rot=None, rot_quat=(0, 0, 0.3826834, 0.9238795))
#config_rot_quat = beamngpy.angle_to_quat(config.dir)
# N.B. using rot is deprecated in favor of rot_quat
#scenario.add_vehicle(vehicle, pos=tuple(config.pos), rot=tuple(config.dir), rot_quat=None)
scenario.add_vehicle(vehicle,
pos=tuple(config.pos),
rot=None,
rot_quat=beamngpy.angle_to_quat(config.dir))
# Compile the scenario and place it in BeamNG's map folder
scenario.make(beamng)
# Start BeamNG and enter the main loop
bng = beamng.open(launch=True)
try:
bng.hide_hud()
bng.set_deterministic() # Set simulator to be deterministic
bng.set_steps_per_second(60) # With 60hz temporal resolution
# Load and start the scenario
bng.load_scenario(scenario)
bng.start_scenario()
# Put simulator in pause awaiting further inputs
bng.pause()
assert vehicle.skt
# Send random inputs to vehicle and advance the simulation 20 steps
#for _ in range(1024):
for _ in range(100):
throttle = random.uniform(0.0, 1.0)
steering = random.uniform(-1.0, 1.0)
brake = random.choice([0, 0, 0, 1])
vehicle.control(throttle=throttle, steering=steering, brake=brake)
# bng.step(20)
bng.step(20)
# Retrieve sensor data and show the camera data.
sensors = bng.poll_sensors(vehicle)
print('\n{} seconds passed.'.format(sensors['timer']['time']))
print("step in loop {}".format(_))
for s in sensors.keys():
print("{} : {}".format(s, sensors[s]))
damage_dict = vehicle.sensors['damage'].encode_vehicle_request()
damage_dict = sensors['damage']
config.update(sensors['damage'])
config.update(vehicle.state)
config.save('{}/config.json'.format(beamng.home))
gamestate = beamng.get_gamestate()
if _ > 990:
print("late in sim")
finally:
bng.close()
def main():
random.seed(1703)
setup_logging()
# Plotting code setting up a 3x2 figure
fig = plt.figure(1, figsize=(10, 5))
axarr = fig.subplots(2, 3)
a_colour = axarr[0, 0]
b_colour = axarr[1, 0]
a_depth = axarr[0, 1]
b_depth = axarr[1, 1]
a_annot = axarr[0, 2]
b_annot = axarr[1, 2]
plt.ion()
beamng = BeamNGpy('localhost', 64256)
bng = beamng.open(launch=True)
# Create a scenario in west_coast_usa
scenario = Scenario('west_coast_usa',
'tech_test',
description='Random driving for research')
# Set up first vehicle, with two cameras, gforces sensor, lidar, electrical
# sensors, and damage sensors
vehicle = Vehicle('ego_vehicle',
model='etk800',
licence='RED',
color='Red')
# Set up sensors
pos = (-0.3, 1, 1.0)
direction = (0, 1, 0)
fov = 120
resolution = (512, 512)
front_camera = Camera(pos,
direction,
fov,
resolution,
colour=True,
depth=True,
annotation=True)
pos = (0.0, 3, 1.0)
direction = (0, -1, 0)
fov = 90
resolution = (512, 512)
back_camera = Camera(pos,
direction,
fov,
resolution,
colour=True,
depth=True,
annotation=True)
gforces = GForces()
electrics = Electrics()
damage = Damage()
lidar = Lidar(visualized=False)
timer = Timer()
# Attach them
vehicle.attach_sensor('front_cam', front_camera)
vehicle.attach_sensor('back_cam', back_camera)
vehicle.attach_sensor('gforces', gforces)
vehicle.attach_sensor('electrics', electrics)
vehicle.attach_sensor('damage', damage)
vehicle.attach_sensor('timer', timer)
scenario.add_vehicle(vehicle,
pos=(-717.121, 101, 118.675),
rot=None,
rot_quat=(0, 0, 0.3826834, 0.9238795))
# Compile the scenario and place it in BeamNG's map folder
scenario.make(bng)
# Start BeamNG and enter the main loop
try:
bng.hide_hud()
bng.set_deterministic() # Set simulator to be deterministic
bng.set_steps_per_second(60) # With 60hz temporal resolution
# Load and start the scenario
bng.load_scenario(scenario)
bng.start_scenario()
# Put simulator in pause awaiting further inputs
bng.pause()
assert vehicle.skt
# Send random inputs to vehice and advance the simulation 20 steps
for _ in range(1024):
throttle = random.uniform(0.0, 1.0)
steering = random.uniform(-1.0, 1.0)
brake = random.choice([0, 0, 0, 1])
vehicle.control(throttle=throttle, steering=steering, brake=brake)
bng.step(20)
# Retrieve sensor data and show the camera data.
sensors = bng.poll_sensors(vehicle)
print('{} seconds passed.'.format(sensors['timer']['time']))
a_colour.imshow(sensors['front_cam']['colour'].convert('RGB'))
a_depth.imshow(sensors['front_cam']['depth'].convert('L'))
a_annot.imshow(sensors['front_cam']['annotation'].convert('RGB'))
b_colour.imshow(sensors['back_cam']['colour'].convert('RGB'))
b_depth.imshow(sensors['back_cam']['depth'].convert('L'))
b_annot.imshow(sensors['back_cam']['annotation'].convert('RGB'))
plt.pause(0.00001)
finally:
bng.close()
def createCrashSimulation():
print("Crash Simulation")
beamng = BeamNGpy('localhost',
64256,
home='F:\Softwares\BeamNG_Research_SVN')
scenario = Scenario('GridMap', 'road_crash_simulation')
road_a = Road('track_editor_C_center', looped=False)
road_b = Road('track_editor_C_center', looped=False)
nodesa = [(30, 0, -4, 4), (0, 0, -4, 4)]
nodesb = [(0, 30, -4, 4), (0, 0, -4, 4)]
road_a.nodes.extend(nodesa)
road_b.nodes.extend(nodesb)
# Create an ETK800 with the licence plate 'PYTHON'
vehicleA = Vehicle('ego_vehicleA', model='etk800', licence='PYTHON')
# Add it to our scenario at this position and rotation
damageS = Damage()
vehicleA.attach_sensor('damagesS', damageS)
scenario.add_vehicle(vehicleA, pos=(30, 0, 0), rot=(0, 0, 90))
# Create an ETK800 with the licence plate 'PYTHON'
vehicleB = Vehicle('ego_vehicleB', model='etk800', licence='PYTHON')
# Add it to our scenario at this position and rotation
damageV = Damage()
vehicleB.attach_sensor('damagesV', damageV)
scenario.add_vehicle(vehicleB, pos=(0, 30, 0), rot=(0, 0, 0))
scenario.add_road(road_a)
scenario.add_road(road_b)
scenario.make(beamng)
bng = beamng.open(launch=True)
try:
bng.load_scenario(scenario)
bng.start_scenario()
node0 = {
'pos': (30, 0, 0),
'speed': 0,
}
node1 = {
'pos': (0, 0, 0),
'speed': 20,
}
script = list()
script.append(node0)
script.append(node1)
vehicleA.ai_set_line(script)
node3 = {
'pos': (0, 30, 0),
'speed': 0,
}
node4 = {
'pos': (0, 0, 0),
'speed': 20,
}
script = list()
script.append(node3)
script.append(node4)
vehicleB.ai_set_line(script)
time.sleep(12)
# input('Press enter when done...')
vehicleA.update_vehicle(
) # Synchs the vehicle's "state" variable with the simulator
sensors = bng.poll_sensors(vehicleA)
damage_striker = sensors['damagesS']
print(sensors['damagesS'])
print(vehicleA.state['pos'])
vehicleB.update_vehicle(
) # Synchs the vehicle's "state" variable with the simulator
sensors = bng.poll_sensors(vehicleB)
damage_victim = sensors['damagesV']
print(sensors['damagesV'])
print(vehicleB.state['pos'])
multiObjectiveFitnessFunction(123456789, damage_striker,
vehicleA.state['pos'], (0, 0),
damage_victim, vehicleB.state['pos'],
(0, 0))
# multiobjective fitness function.
bng.stop_scenario()
# bng.load_scenario(scenario)
# bng.start_scenario()
#
# print("sleep")
# time.sleep(10)
# print("wake")
#
# node0 = {
# 'pos': (30, 0, 0),
# 'speed': 0,
# }
#
# node1 = {
# 'pos': (0, 0, 0),
# 'speed': 30,
# }
#
# script = list()
# script.append(node0)
# script.append(node1)
#
# vehicleA.ai_set_line(script)
#
# node0 = {
# 'pos': (0, 30, 0),
# 'speed': 0,
# }
#
# node1 = {
# 'pos': (0, 0, 0),
# 'speed': 30,
# }
#
# script = list()
# script.append(node0)
# script.append(node1)
#
# vehicleB.ai_set_line(script)
#
# input('Press enter when done...')
finally:
bng.close()